Robot cleaner

ABSTRACT

Disclosed herein is a robot cleaner. The robot cleaner includes a body, a drive unit provided in the body to power the robot cleaner to travel, and a plurality of rotating members, each rotating about its axis of rotation by the power of the drive unit, a cleaner section being fixable to each of the rotating members to perform wet cleaning on a surface to be cleaned, wherein each of the rotating members has a predetermined angle of tilt and angle of rotation set, so as to determine a traveling direction of the robot cleaner.

TECHNICAL FIELD

The present disclosure relates to a robot cleaner.

BACKGROUND ART

With the development of industrial technology, various devices have beenbeing automated. As is well known, robot cleaners are used toautomatically clean an area intended to be cleaned by sucking or wipingforeign substances such as dust from a surface to be cleaned whiletraveling in the area to be cleaned by themselves without usermanipulation.

A typical robot cleaner may include a vacuum cleaner that performscleaning using suction force generated by a motor.

The typical robot cleaner including the vacuum cleaner has a limitedability to remove stuck foreign substances or ingrained dirt from asurface to be cleaned. Recently, a robot cleaner capable of performingwet cleaning by means of a mop attached thereto has emerged.

However, the wet cleaning of this robot cleaner has disadvantages inthat it is insufficient to remove foreign substances and is inefficientsince it is merely a simple method of using the mop or the like attachedto the lower portion of an existing robot vacuum cleaner.

In particular, since a typical robot cleaner having a wet cleaningfeature travels and avoids obstacles in the same manner as an existingsuction-type vacuum cleaner, the robot cleaner may not easily removestuck foreign substances or the like from a surface to be cleaned evenif it removes scattered dust or the like from the surface to be cleaned.

In addition, a typical robot cleaner having a mop attachment structurerequires an additional separate propulsion force for moving its wheelsdue to an increased frictional force between the mop surface thereof andthe ground, which results in an increase in battery consumption.

DISCLOSURE Technical Problem

Various embodiments are directed to a robot cleaner capable of having asimpler structure to reduce manufacturing costs and be easier to controlthan in the prior art, as a traveling direction of the robot cleaner isdetermined by a rotating member having a predetermined angle of tilt andangle of rotation set and a variable direction of rotation and speed ofrotation depending on the traveling condition of the robot cleaner.

Technical Solution

In accordance with an aspect of the present disclosure, there isprovided a robot cleaner that includes a body, a drive unit provided inthe body to power the robot cleaner to travel, and a plurality ofrotating members, each rotating about its axis of rotation by the powerof the drive unit, a cleaner section being fixable to each of therotating members to perform wet cleaning on a surface to be cleaned,wherein each of the rotating members has a predetermined angle of tiltand angle of rotation set, so as to determine a traveling direction ofthe robot cleaner.

The angle of tilt may be an angular displacement between a verticalcentral axis of the robot cleaner and the tilted axis of rotation.

The angle of rotation may be an angular displacement of the axis ofrotation rotated on an imaginary plane perpendicular to the verticalcentral axis of the robot cleaner at a tilted angle of displacementthereof.

The tilted axis of rotation may be formed in such a manner that the axisof rotation of the rotating member is inclined downward and outward withrespect to the vertical central axis of the robot cleaner.

The rotated axis of rotation may be formed in such a manner that theaxis of rotation of the rotating member is rotated in a circulartrajectory on the imaginary plane perpendicular to the vertical centralaxis of the robot cleaner at the tilted angle of displacement thereof.

The robot cleaner may travel using frictional force, as a moving forcesource, between the surface to be cleaned and the cleaner section, thefrictional force being generated while the cleaner section rotates.

At least one of directions of rotation and speeds of rotation of theplurality of rotating members may be controlled.

The angles of tilt and angles of rotation of the plurality of rotatingmembers may be set, and at least one of the directions of rotation andspeeds of rotation of the plurality of rotating members may be varieddepending on the driving condition of the robot cleaner.

The angles of tilt and angles of rotation of the plurality of rotatingmembers may be set, so that the robot cleaner travels in a straightline.

The angles of tilt and angles of rotation of the plurality of rotatingmembers may be set, so that the robot cleaner travels along a trajectoryincluding a curve having a predetermined radius of curvature.

The cleaner section may have an independent angle of tilt and angle ofrotation set.

The plurality of rotating members may include a first rotating member, asecond rotating member, and a third rotating member.

Advantageous Effects

According to the present disclosure, since the rotating member has apredetermined angle of tilt and angle of rotation set to determine thetraveling direction of the robot cleaner, and a variable direction ofrotation and speed of rotation depending on the traveling condition ofthe robot cleaner, it is possible to further simplify the structure ofthe robot cleaner to reduce manufacturing costs and be easier to controlthan in the prior art.

BRIEF DESCRIPTION OF DRAWINGS

FIGS. 1 and 2 are perspective and front views illustrating an externalappearance of a robot cleaner according to an embodiment of the presentdisclosure.

FIG. 3 is a block diagram illustrating the robot cleaner according tothe embodiment of the present disclosure.

FIG. 4 is a view illustrating a traveling operation of the robot cleaneraccording to the embodiment of the present disclosure.

FIGS. 5 and 6 are views illustrating a configuration of a drive unitaccording to the embodiment of the present disclosure.

FIG. 7 is a view illustrating a cleaner section when a rotating membertilts in the robot cleaner according to the embodiment of the presentdisclosure.

FIG. 8 is a view illustrating the cleaner section when the rotatingmember tilts and then rotates in the robot cleaner according to theembodiment of the present disclosure.

FIG. 9 is a view illustrating, with respect to the plane formed by x-and y-axes, a position trajectory of an axis of rotation of the cleanersection after the rotating member sequentially tilts and rotates in therobot cleaner according to the embodiment of the present disclosure.

FIG. 10 is a view illustrating a trajectory in which a first axis ofrotation after tilting may be positioned during rotation.

FIG. 11 is a view illustrating a plurality of cleaner sections havingdifferent rotation trajectories as a plurality of rotating member eachhave an independent angle of tilt and angle of rotation set in theembodiment of the present disclosure.

MODE FOR DISCLOSURE

The following description is merely illustrative of the principles ofthe present disclosure. Therefore, various devices may be readilydevised by those skilled in the art which will embody the principles ofthe disclosure and fall within the spirit and scope thereof, althoughnot explicitly described or illustrated herein. It should be understoodthat all conditional terms and embodiments used herein are clearlyintended only for the purpose of understanding the concept of thedisclosure in principle, and are not limited to the particularembodiments and conditions set forth herein.

It should be understood that all detailed descriptions of theprinciples, viewpoints, and embodiments of the disclosure as well asspecific embodiments are intended to cover structural and functionalequivalents thereof. It should also be understood that the equivalentsinclude not only currently known equivalents but also equivalents to bedeveloped in the future, namely, all elements invented to perform thesame function, regardless of the structure thereof.

For example, the block diagrams herein should be understood asrepresenting exemplary conceptual viewpoints for embodying theprinciples of the disclosure. Similarly, all flowcharts, statetransition diagrams, pseudo code, etc. should be understood to besubstantially embodied on computer-readable media and to representvarious processes performed by a computer or processor, regardless ofwhether the computer or the processor is clearly illustrated.

The functions of various elements illustrated in the drawings, includinga processor or a functional block represented by a concept similarthereto, may be provided for use of dedicated hardware as well ashardware having the ability to execute software in association withappropriate software. When the functions are provided by a processor,the functions may be provided by a single dedicated processor, a singleshared processor, or a plurality of individual processors, some of whichmay be shared.

In addition, terms used herein, such as “processor” or “control”, orterms presented by a concept similar thereto should not be interpretedas excluding hardware having the ability to execute software, and shouldbe understood to implicitly include, without limitation, digital signalprocessor (DSP) hardware, ROM for storing software, RAM, andnon-volatile memory. The terms may also include any other well-knownhardware.

In the claims of the present disclosure, components expressed as meansfor performing the functions described herein are intended to include,for example, all methods of performing a function including any form ofsoftware, including a combination of circuit elements that perform theabove function, firmware/microcode, or the like, and are combined withsuitable circuitry for executing the software to perform the function.Since the present disclosure defined in these claims is combined withthe functions provided by the various means set forth herein and in amanner required by the claims, any means capable of providing thefunctions should be understood to be equivalent to those contemplated bythe disclosure.

The above and other objects, features and advantages of the presentdisclosure will be more clearly understood from the following detaileddescription taken in conjunction with the accompanying drawings, andaccordingly, those of ordinary skill in the art to which the presentdisclosure pertains will easily implement the technical spirit of thedisclosure. In certain embodiments, a detailed description of functionsand configurations well known in the art may be omitted to avoidobscuring appreciation of the disclosure by those of ordinary skill inthe art.

Hereinafter, various exemplary embodiments of the present disclosurewill be described in detail with reference to the accompanying drawings.

FIGS. 1 and 2 are perspective and front views illustrating an externalappearance of a robot cleaner according to an embodiment of the presentdisclosure. FIG. 3 is a block diagram illustrating the robot cleaneraccording to the embodiment of the present disclosure.

As illustrated in FIGS. 1 to 3 , the robot cleaner, which is designatedby reference numeral 100, according to the embodiment of the presentdisclosure may include a body 10, a drive unit 150, a first rotatingmember 110, a second rotating member 120, a third rotating member 130,and a control unit 170.

Referring to FIG. 3 , the robot cleaner 100 according to the embodimentof the present disclosure may further include at least one of a sensingunit 145, a communication unit 140, a storage unit 160, an input unit180, an output unit 185, and a power supply unit 190.

The body 10 may define an exterior appearance of the robot cleaner 100.

In some embodiments, a bumper (not shown) may be formed around the outerperiphery of the body 10 to protect the body 10 from external shocks.

The drive unit 150 may be provided in the body 10 to power the robotcleaner 100 to travel.

The first rotating member 110, the second rotating member 120, and thethird rotating member 130 may be rotated about their first axis ofrotation 310, second axis of rotation 320, and third axis of rotation330, respectively, by the power of the drive unit 150. Each of therotating members may be rotated either in a clockwise direction CW or ina counterclockwise direction CCW about its axis of rotation.

The drive unit 150 may drive the first rotating member 110, the secondrotating member 120, and the third rotating member 130. Morespecifically, the drive unit 150 may power the first, second, and thirdrotating members 110, 120, and 130 to rotate under the control of thecontrol unit 170. The drive unit 150 may include a first drive unit 151,a second drive unit 152, and a third drive unit 153 for driving therespective first rotating member 110, second rotating member 120, andthird rotating member 130, as illustrated in FIGS. 5 and 6 .Furthermore, the drive unit 150 may include a motor and/or a gearassembly.

A first cleaner section 210, a second cleaner section 220, and a thirdcleaner section 230 are fixable to the respective first rotating member110, second rotating member 120, and third rotating member 130 toperform wet cleaning on a surface to be cleaned 900.

The robot cleaner 100 may travel while performing wet cleaning using thecleaner sections 210, 220, and 230. Here, “wet cleaning” may refer tocleaning the surface to be cleaned 900 using the cleaner sections 210,220, 230, and may include, for example, both cleaning using a dry mop orthe like and cleaning using a wet mop or the like.

Each of the first, second, and third cleaner sections 210, 220, and 230may be made of a material, such as a microfiber cloth, a mop, anon-woven fabric, or a brush, capable of wiping various surfaces to becleaned, so as to remove stuck foreign substances from a floor surfaceduring rotation. In addition, each of the first, second, and thirdcleaner sections 210, 220, and 230 may have a circular shape asillustrated in FIGS. 1 and 2 , but may be implemented in various shapeswithout limitation.

The cleaner section rotates in the clockwise direction CW or in thecounterclockwise direction CCW in response to the direction of rotationof the rotating member.

The first, second, and third cleaner sections 210, 220, and 230 may befixed to the respective associated rotating members 110, 120, and 130 bycovering the rotating members 110, 120, and 130, or by using a separateattachment means. For example, each of the first, second, and thirdcleaner sections 210, 220, and 230 may be fixedly attached to theassociated rotating member by means of a Velcro tape or the like.

As described above, the robot cleaner 100 according to the embodiment ofthe present disclosure may remove stuck foreign substances from thefloor through friction with the surface to be cleaned 900 by rotatingthe first, second, and third cleaner sections 210, 220, and 230 alongwith the rotation of the first, second, and third rotating members 110,120, and 130.

When a frictional force is generated between each cleaner section 210,220, or 230 and the surface to be cleaned 900, the frictional force maybe used as a moving force source of the robot cleaner 100.

Since each of the first, second, and third rotating members 110, 120,and 130 forms a predetermined angle with the surface to be cleaned 900,a frictional force is generated between the cleaner section coupled tothe rotating member and the surface to be cleaned 900, thereby enablingthe robot cleaner 100 to move while simultaneously cleaning the surfaceto be cleaned 900.

The control unit 170 controls the direction of rotation CW or CCW andspeed of rotation of each individual rotating member. A descriptionthereof will be given later in detail.

The sensing unit 145 may detect different types of information requiredfor the operation of the robot cleaner 100, and transmit a detectionsignal to the control unit 170.

The communication unit 140 may include one or more modules that enablewireless communication between the robot cleaner 100 and any otherwireless terminal or wireless communication between the robot cleaner100 and a network in which the other wireless terminal is located. Forexample, the communication unit 140 may communicate with a wirelessterminal as a remote control device, and may include a short-rangecommunication module, a wireless Internet module, or the like for thispurpose.

The robot cleaner 100 may be configured such that the operation state ormethod thereof or the like is controlled in response to a control signalreceived by the communication unit 140. Examples of the terminal forcontrolling the robot cleaner 100 may include a smart phone, a tablet, apersonal computer, a remote controller (remote control device), etc.,which are able to communicate with the robot cleaner 100.

The storage unit 160 may store a program for operating the control unit170, and may temporarily store input/output data. The storage unit 160may include at least one type of storage medium among a flash memorytype, a hard disk type, a multimedia card micro type, a card type memory(e.g., SD or XD memory), random access memory (RAM), static randomaccess memory (SRAM), read-only memory (ROM), electrically erasableprogrammable read-only memory (EEPROM), programmable read-only memory(PROM), magnetic memory, a magnetic disk, and an optical disk.

The input unit 180 may receive user input to operate the robot cleaner100. In particular, the input unit 180 may receive user input forselecting an operation mode of the robot cleaner 100.

The input unit 180 may include a keypad, a dome switch, a touch pad(static pressure/capacitance), a jog wheel, a jog switch, and the like.

The output unit 185 is to generate output related to sight, hearing, andthe like. The output unit 185 may include, although not illustrated inthe drawings, a display, a sound output module, an alarm, and the like.

The display serves to display (output) information processed by therobot cleaner 100. For example, when the robot cleaner is cleaning, thedisplay may include a user interface (UI) or a graphic user interface(GUI) that displays a cleaning time, a cleaning method, a cleaning area,and the like related to a cleaning mode.

The power supply unit 190 supplies electric power to the robot cleaner100. Specifically, the power supply unit 190 may supply electric powerto the constituent functional components of the robot cleaner 100, andmay be charged by receiving a charging current from an external chargerwhen the remaining power thereof is insufficient. The power supply unit190 may be implemented as a rechargeable battery.

FIG. 4 is a view illustrating a traveling operation of the robot cleaneraccording to the embodiment of the present disclosure.

As illustrated in FIG. 4 , the first rotating member 110 and the secondrotating member 120 are disposed in the front of the robot cleaner 100,and the third rotating member 130 is disposed in the rear of the robotcleaner 100, which allows the robot cleaner 100 to travel straightforward. Alternatively, the third rotating member 130 is disposed in thefront of the robot cleaner 100, and the first rotating member 110 andthe second rotating member 120 are disposed in the rear of the robotcleaner 100, which allows the robot cleaner 100 to travel straightforward. On the other hand, the robot cleaner 100 may also travelbackward as opposed to traveling forward.

In addition, the robot cleaner 100 may travel in a straight line whilesimultaneously traveling in a curve along a trajectory including a curvehaving a predetermined radius of curvature under the control of thecontrol unit 170.

FIG. 7 illustrates the cleaner section when the rotating member tilts inthe robot cleaner according to the embodiment of the present disclosure.

Here, the tilting of the rotating member will be described withreference to FIG. 7 to show in what trajectory the rotating member istilted. The tilting and rotation of the rotating member are alreadycarried out when the robot cleaner according to the present disclosureis manufactured, in order to determine the traveling direction of therobot cleaner. That is, the angle of tilt and angle of rotation of therotating member are already set according to the design thereof.

For clarity of description, the disclosure will be described on thebasis of the first rotating member 110, the first cleaner section 210,and the first axis of rotation 310.

In FIG. 7 , in an initial state before the rotating member tilts, it isassumed that the surface to be cleaned 900 is flush with the planeformed by the x- and y-axes and that a central axis 300 parallel to thevertical axis (hereinafter, referred to as “vertical central axis”) ofthe robot cleaner 100 is positioned on the same line as the axis ofrotation of the rotating member.

In FIG. 7 , the vertical central axis 300 is positioned on the same lineas the first axis of rotation axis 310 in the robot cleaner 100, and thefirst cleaner section 210 is positioned parallel to the surface to becleaned 900 on the plane formed by the x- and y-axes. An initial stateis indicated by a dotted line.

Here, the terms “parallel” and “to be parallel” may refer to “parallelsubstantially or within the margin of error” and “to be parallelsubstantially or within the margin of error”.

When intended to tilt, the first rotating member 110 is tilted (ortilts) to have a predetermined angular displacement el with respect tothe vertical central axis 300 of the robot cleaner 100 such that thefirst axis of rotation 310 thereof is inclined downward and outward withrespect to the vertical central axis 300. In the present disclosure, thepredetermined angular displacement el is referred to as an “angle oftilt”. In FIG. 7 , the first rotating member 110 is also tilted to havean angle of tilt el with respect to the z-axis. For convenience, a firstaxis of rotation after tilting is denoted by reference numeral “310 a”.

The first cleaner section 210 shares the first axis of rotation 310 awith the first rotating member 110, and accordingly the first cleanersection 210 is also tilted as illustrated in FIG. 7 .

In FIG. 7 , in the initial state, one point of the first cleaner section210 in contact with the x-axis is referred to as “A1”, and the otherpoint of the first cleaner section 210 in contact with the x-axis isreferred to as “B1”. In this case, when the first rotating member 110 istilted, the point “A1” moves up and down in the direction of the z-axiswhile drawing a curved trajectory. On the other hand, the other point“B1” is fixed at a corresponding position since the other point “B1” isrequired to be in contact with the surface to be cleaned (for movementof the robot cleaner 100 and cleaning of the surface to be cleaned).

One point after such tilting is referred to as “A2”, and the other pointafter tilting is referred to as “B2”. Therefore, after tilting, thepoint “A1” is not the same as the point “A2”, and the point “B1” is thesame as the point “B2”.

As described above, when the first rotating member 110 tilts, the firstcleaner section 210 is movable by generating frictional force with thesurface to be cleaned 900, so as to clean the surface to be cleaned.

FIG. 8 illustrates the cleaner section when the rotating member tiltsand then rotates in the robot cleaner according to the embodiment of thepresent disclosure.

Here, the rotation of the rotating member will be described withreference to FIG. 8 to show in what trajectory the rotating member isrotated. The tilting and rotation of the rotating member are alreadycarried out when the robot cleaner according to the present disclosureis manufactured, in order to determine the traveling direction of therobot cleaner. That is, the angle of tilt and angle of rotation of therotating member are already set according to the design thereof.

FIG. 9 is a view illustrating, with respect to the plane formed by thex- and y-axes, a position trajectory of an axis of rotation of thecleaner section after the rotating member sequentially tilts and rotatesin the robot cleaner according to the embodiment of the presentdisclosure. For clarity of description, the disclosure will be describedon the basis of the first rotating member 110, the first cleaner section210, and the first axis of rotation 310.

Hereinafter, the rotation of the rotating member will be described withreference to FIGS. 8 and 9 .

The first rotating member 110 is rotated with respect to the verticalcentral axis 300 of the robot cleaner 100. That is, the first rotatingmember 110 is tilted around the vertical central axis 300 of the robotcleaner 100, and is then rotated with the tilting angle θ1 thereoffixed. For convenience, a first axis of rotation after tilting androtation is denoted by reference numeral “310 b”.

In FIG. 8 , as described above, after tilting, one point of the firstcleaner section 210 is referred to as “A2”, and the other point thereofis referred to as “B2”. In this state, when the first rotating member110 is rotated, the point “A2” moves while drawing a curved trajectorywithout changing in the direction of the z-axis on the plane formed bythe x- and y-axes, as illustrated in FIG. 9 . In addition, the otherpoint “B2” moves while drawing a curved trajectory without changing inthe direction of the z-axis on the plane formed by the x- and y-axes,unlike the above tilting operation. In more detail, the point “B2” moveswhile drawing a curved trajectory without changing in the direction ofthe z-axis on the surface to be cleaned 900 (for movement of the robotcleaner 100 and cleaning of the surface to be cleaned).

One point after such rotation is referred to as “A3”, and the otherpoint after rotation is referred to as “B3”. Therefore, after rotation,the point “A2” is not the same as the point “A3”, and the point “B2” isnot the same as the point “B3” as well.

In FIG. 9 , the rotation of the first rotating member 110 allows apredetermined angular displacement θ2 to occur between an imaginarystraight line connecting the vertical central axis 300 of the robotcleaner 100 to the first axis of rotation after tilting 310 a and animaginary straight line connecting the vertical central axis 300 of therobot cleaner 100 to the first axis of rotation after tilting androtation 310 b on the plane formed by the x- and y-axes. In the presentdisclosure, the predetermined angular displacement θ2 is referred to asan “angle of rotation”.

Each rotating member may have both the independent angle of tilt θ1 andangle of rotation θ2 describe above, and may have different angle oftilt 81 and angle of rotation θ2. Based on the set angle of tilt 81 andangle of rotation θ2, the traveling direction of the robot cleaner 100may be determined according to the design thereof.

FIG. 10 is a view illustrating a rotatable trajectory of the first axisof rotation after tilting.

Here, the “rotatable trajectory of the first axis of rotation” refers toa trajectory formed by the point where the first axis of rotation 310 bmeets an imaginary plane perpendicular to the vertical central axis 300of the robot cleaner 100 (wherein, the imaginary plane is a plane formedby x1- and y1-axes parallel to the plane formed by the x- and y-axes) onthe imaginary plane, when the angle of rotation is set. This makes itpossible to check in what range the first axis of rotation 310 b movesduring rotation. In this case, this trajectory is not the trajectory ofthe first cleaner section 210. According to the embodiment of thepresent disclosure, the first axis of rotation 310 b may rotate in acircular trajectory on an imaginary plane, as illustrated in FIG. 10 .

FIG. 11 is a view illustrating the plurality of cleaner sections 210,220, and 230 having different rotation trajectories as the plurality ofrotating members are each independently tilted and rotated in theembodiment of the present disclosure. For convenience of description,the plurality of cleaner sections 210, 220, and 230 are illustrated onthe plane formed by the x- and y-axes.

As described above, the angle of tilt el and the angle of rotation θ2are already set according to the design. The plurality of rotatingmembers 110, 120, and 130 have respective angles of tilt el of d°, e°,and f°, and respective angles of rotation θ2 of a°, b°, and c° at thesame time.

Each of the rotating members 110, 120, and 130 may have a direction ofrotation CW or CCW determined based on the changed axis of rotationthereof, and may have a speed of rotation v1, v2, or v3 determined basedon the changed axis of rotation thereof. Accordingly, the travelingspeed of the robot cleaner 100 is determined. The above direction ofrotation and speed of rotation may be varied by the control unit 170.

That is, the robot cleaner 100 travels at the angle of tilt el and theangle of rotation θ2 as fixed constants and in the direction of rotationand speed of rotation as variables.

When the robot cleaner travels straight forward, travels straightbackward, rotates left or right while traveling straight forward,rotates left or right while traveling straight backward, or rotate leftor right in place, it is very important to precisely control the robotcleaner to move or rotate by the distance and angle set by a user.

In order for only a cleaner section, without wheels, to provide therobot cleaner with a moving power source while cleaning at the sametime, if an even number of cleaner sections (e.g., two or four) isprovided, it is easy to perform precise control because of symmetry.

However, when an odd number of cleaner sections (e.g., three) isprovided as in the present disclosure, the rotational force of eachcleaner section cannot be maintained at 1:1, resulting in an axialforce. Hence, since the robot cleaner is inclined to one side whentraveling in a straight line, it is difficult to precisely control therobot cleaner to move to a user's desired position.

In order to solve this issue, a separate actuator may be provided to thecleaner section of the robot cleaner to vary the angle of the cleanersection. However, this solution may cause an increase in manufacturingcosts, and excessive manufacturing time-consuming and difficult controlof the robot cleaner.

However, according to the present disclosure, since the angle of tiltand angle of rotation of the rotating member are set according to thedesign thereof to determine the traveling direction of the robotcleaner, and the direction of rotation and speed of rotation of therotating member are varied depending on the traveling condition of therobot cleaner, it is possible to further simplify the structure of therobot cleaner to reduce manufacturing costs and be easier to controlthan in the prior art.

Meanwhile, the above-mentioned control method according to variousembodiments of the present disclosure may be implemented as a programcode, and may be stored in various non-transitory computer readablemedia to be provided to each server or device.

The term “non-transitory computer readable medium” refers to any mediumthat stores data semi-permanently and is readable by a device, ratherthan a medium that stores data for a short moment, such as a register, acache, or a memory. Specifically, the above-mentioned variousapplications or programs may be stored in a non-transitory computerreadable medium such as CD, DVD, a hard disk, a Blu-ray disk, USB, amemory card, ROM, or the like.

INDUSTRIAL APPLICABILITY

The present disclosure provides a robot cleaner capable of having asimpler structure to reduce manufacturing costs and be easier to controlthan in the prior art, as a traveling direction of the robot cleaner isdetermined by a rotating member having a predetermined angle of tilt andangle of rotation set and a variable direction of rotation and speed ofrotation depending on the traveling condition of the robot cleaner.

Although embodiments have been described with reference to a number ofillustrative embodiments thereof, it should be understood that numerousother modifications and applications may be devised by those skilled inthe art that will fall within the intrinsic aspects of the embodiments.More particularly, various variations and modifications are possible inconcrete constituent elements of the embodiments. In addition, it is tobe understood that differences relevant to the variations andmodifications fall within the spirit and scope of the present disclosuredefined in the appended claims.

1. A robot cleaner comprising: a body; a drive unit provided in the bodyto power the robot cleaner to travel; and a plurality of rotatingmembers, each rotating about its axis of rotation by the power of thedrive unit, a cleaner section being fixable to each of the rotatingmembers to perform wet cleaning on a surface to be cleaned, wherein eachof the rotating members has a predetermined angle of tilt and angle ofrotation set, so as to determine a traveling direction of the robotcleaner.
 2. The robot cleaner according to claim 1, wherein the angle oftilt is an angular displacement between a vertical central axis of therobot cleaner and the tilted axis of rotation.
 3. The robot cleaneraccording to claim 2, wherein the angle of rotation is an angulardisplacement of the axis of rotation rotated on an imaginary planeperpendicular to the vertical central axis of the robot cleaner at atilted angle of displacement thereof.
 4. The robot cleaner according toclaim 2, wherein the tilted axis of rotation is formed in such a mannerthat the axis of rotation of the rotating member is inclined downwardand outward with respect to the vertical central axis of the robotcleaner.
 5. The robot cleaner according to claim 3, wherein the rotatedaxis of rotation is formed in such a manner that the axis of rotation ofthe rotating member is rotated in a circular trajectory on the imaginaryplane perpendicular to the vertical central axis of the robot cleaner atthe tilted angle of displacement thereof.
 6. The robot cleaner accordingto claim 1, wherein the robot cleaner travels using frictional force, asa moving force source, between the surface to be cleaned and the cleanersection, the frictional force being generated while the cleaner sectionrotates.
 7. The robot cleaner according to claim 1, wherein at least oneof directions of rotation and speeds of rotation of the plurality ofrotating members is controlled.
 8. The robot cleaner according to claim7, wherein: the angles of tilt and angles of rotation of the pluralityof rotating members are set; and at least one of the directions ofrotation and speeds of rotation of the plurality of rotating members isvaried depending on the driving condition of the robot cleaner.
 9. Therobot cleaner according to claim 1, wherein the angles of tilt andangles of rotation of the plurality of rotating members are set, so thatthe robot cleaner travels in a straight line.
 10. The robot cleaneraccording to claim 1, wherein the angles of tilt and angles of rotationof the plurality of rotating members are set, so that the robot cleanertravels along a trajectory comprising a curve having a predeterminedradius of curvature.
 11. The robot cleaner according to claim 1, whereinthe cleaner section has an independent angle of tilt and angle ofrotation set.
 12. The robot cleaner according to claim 1, wherein theplurality of rotating members comprise a first rotating member, a secondrotating member, and a third rotating member.